00001 /* 00002 * Software License Agreement (BSD License) 00003 *Copyright (c) 2015, micROS Team 00004 http://micros.nudt.edu.cn/ 00005 *All rights reserved. 00006 * Copyright (c) 2009, Willow Garage, Inc. 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 */ 00036 #include <sstream> 00037 #include <iostream> 00038 #include "stdio.h" 00039 #include "stdlib.h" 00040 #include "string.h" 00041 00042 using namespace std; 00043 00044 struct POINT 00045 { 00046 int x; 00047 int y; 00048 }; 00049 00050 struct THREAT_STRUCT 00051 { 00052 POINT center; 00053 int range; 00054 }; 00055 00057 //global varibles 00058 extern int g_MapWidth; //width of map 00059 extern int g_MapHeight; //height of map 00060 00061 extern int g_FlyingHeight; //height of client move 00062 00063 extern short* g_Terrain; //rerrian map 00064 extern int** g_SearchMap; //search map 00065 00066 extern THREAT_STRUCT g_Threats[100]; //threat 00067 extern int g_ThreatsCount; //number of threats 00068 00069 00070 extern int g_Sx; //start point x 00071 extern int g_Sy; //start point y 00072 extern int g_Ex; //end point x 00073 extern int g_Ey; //end point y 00075 00076 00078 //get the threats and the configure parameters 00079 bool InitThreat(); 00080 //get the terrian map 00081 void InitTerrain(); 00082 //get the search map 00083 void BuildSearchMap(); 00085 00087 //initialize 00088 bool InitData(); 00089 //search 00090 bool Search(); 00091 00092 int GetRoad(POINT** Road); 00093 //clean the RAM 00094 void Clean(); 00096 00098 00099 // 00100 void ConnectionSearch(); 00101 //build the field 00102 void FieldBuilding(); 00103 //roadsearch 00104 void RoadSearch(); 00106 00107